// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
*   The init_ardupilot function processes everything we need for an in - air restart
*        We will determine later if we are actually on the ground and process a
*        ground start in that case.
*
*****************************************************************************/

#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
static int8_t	process_logs(uint8_t argc, const Menu::arg *argv);	// in Log.pde
static int8_t	setup_mode(uint8_t argc, const Menu::arg *argv);	// in setup.pde
static int8_t	test_mode(uint8_t argc, const Menu::arg *argv);		// in test.cpp
static int8_t   reboot_board(uint8_t argc, const Menu::arg *argv);

// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
static int8_t	main_menu_help(uint8_t argc, const Menu::arg *argv)
{
    cliSerial->printf_P(PSTR("Commands:\n"
						 "  logs\n"
						 "  setup\n"
						 "  test\n"
                         "  reboot\n"
						 "\n"));
	return(0);
}

// Command/function table for the top-level menu.
const struct Menu::command main_menu_commands[] PROGMEM = {
//   command		function called
//   =======        ===============
	{"logs",		process_logs},
	{"setup",		setup_mode},
	{"test",		test_mode},
    {"reboot",              reboot_board},
	{"help",		main_menu_help},
};

// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);

static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
{
    reboot_apm();
    return 0;
}

// the user wants the CLI. It never exits
static void run_cli(FastSerial *port)
{
    cliSerial = port;
    Menu::set_port(port);
    port->set_blocking_writes(true);

    while (1) {
        main_menu.run();
    }
}

#endif // CLI_ENABLED

static void init_ardupilot()
{
#if USB_MUX_PIN > 0
    // on the APM2 board we have a mux thet switches UART0 between
    // USB and the board header. If the right ArduPPM firmware is
    // installed we can detect if USB is connected using the
    // USB_MUX_PIN
    pinMode(USB_MUX_PIN, INPUT);

    ap_system.usb_connected = !digitalReadFast(USB_MUX_PIN);
    if (!ap_system.usb_connected) {
        // USB is not connected, this means UART0 may be a Xbee, with
        // its darned bricking problem. We can't write to it for at
        // least one second after powering up. Simplest solution for
        // now is to delay for 1 second. Something more elegant may be
        // added later
        delay(1000);
    }
#endif

	// Console serial port
	//
	// The console port buffers are defined to be sufficiently large to support
    // the MAVLink protocol efficiently
	//
    cliSerial->begin(SERIAL0_BAUD, 256, 256);

	// GPS serial port.
	//
	#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
		Serial2.begin(SERIAL2_BAUD, 256, 16);
	#endif
	
    cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
						 "\n\nFree RAM: %u\n"),
                    memcheck_available_memory());

	//
	// Initialize Wire and SPI libraries
	//
#ifndef DESKTOP_BUILD
	I2c.begin();
	I2c.timeOut(5);
	// initially set a fast I2c speed, and drop it on first failures
	I2c.setSpeed(true);
#endif

#if PIRATES_SENSOR_BOARD == PIRATES_CRIUS_AIO_PRO_V2 
    SPI.begin();
    SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
#endif
	//
	// Initialize the isr_registry.
	//
    isr_registry.init();

	//
    // Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
	//
	report_version();

	// setup IO pins
	pinMode(A_LED_PIN, OUTPUT);				// GPS status LED
  digitalWrite(A_LED_PIN, LED_OFF);

  pinMode(B_LED_PIN, OUTPUT);				// GPS status LED
  digitalWrite(B_LED_PIN, LED_OFF);

  pinMode(C_LED_PIN, OUTPUT);				// GPS status LED
  digitalWrite(C_LED_PIN, LED_OFF);

#if SLIDE_SWITCH_PIN > 0
  pinMode(SLIDE_SWITCH_PIN, INPUT);		// To enter interactive mode
#endif
#if CONFIG_PUSHBUTTON == ENABLED
	pinMode(PUSHBUTTON_PIN, INPUT);			// unused
#endif

#if COPTER_LEDS == ENABLED
	pinMode(COPTER_LED_1, OUTPUT);		//Motor LED
	pinMode(COPTER_LED_2, OUTPUT);		//Motor LED
	pinMode(COPTER_LED_3, OUTPUT);		//Motor LED
	pinMode(COPTER_LED_4, OUTPUT);		//Motor LED
	pinMode(COPTER_LED_5, OUTPUT);		//Motor or Aux LED
	pinMode(COPTER_LED_6, OUTPUT);		//Motor or Aux LED
	pinMode(COPTER_LED_7, OUTPUT);		//Motor or GPS LED
	pinMode(COPTER_LED_8, OUTPUT);		//Motor or GPS LED

	if ( !bitRead(g.copter_leds_mode, 3) ){	
		piezo_beep();
	}
	
#endif


    // load parameters from EEPROM
    load_parameters();

	// init the GCS
    gcs0.init(&Serial);

#if USB_MUX_PIN > 0
    if (!ap_system.usb_connected) {
        // we are not connected via USB, re-init UART0 with right
        // baud rate
        cliSerial->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
    }
#else
    // we have a 2nd serial port for telemetry
    Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
	gcs3.init(&Serial3);
#endif

    // identify ourselves correctly with the ground station
	mavlink_system.sysid = g.sysid_this_mav;
    mavlink_system.type = 2; //MAV_QUADROTOR;

#if LOGGING_ENABLED == ENABLED
    DataFlash.Init();
    if (!DataFlash.CardInserted()) {
        gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash inserted"));
        g.log_bitmask.set(0);
    } else if (DataFlash.NeedErase()) {
        gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
		do_erase_logs();
    }
	if (g.log_bitmask != 0){
		DataFlash.start_new_log();
	}
#endif

    #if FRAME_CONFIG ==	HELI_FRAME
		motors.servo_manual = false;
		motors.init_swash();  // heli initialisation
	#endif

    RC_Channel::set_apm_rc(&APM_RC);
	init_rc_in();		// sets up rc channels from radio
	init_rc_out();		// sets up the timer libs

	timer_scheduler.init( &isr_registry );
	
    /*
     *  setup the 'main loop is dead' check. Note that this relies on
     *  the RC library being initialised.
     */
    timer_scheduler.set_failsafe(failsafe_check);

    // initialise the analog port reader
    AP_AnalogSource_Arduino::init_timer(&timer_scheduler);

	#if HIL_MODE != HIL_MODE_ATTITUDE
		#if CONFIG_ADC == ENABLED
			// begin filtering the ADC Gyros
			adc.Init(&timer_scheduler);       // APM ADC library initialization
		#endif // CONFIG_ADC

	#endif // HIL_MODE

	#if OSD_PROTOCOL != OSD_PROTOCOL_NONE
		osd_init();
	#endif 
	
	// init the optical flow sensor
	if(g.optflow_enabled) {
		init_optflow();
	}

#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
    // initialise inertial nav
    inertial_nav.init();
#endif

// agmatthews USERHOOKS
#ifdef USERHOOK_INIT
   USERHOOK_INIT
#endif

#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
	// If the switch is in 'menu' mode, run the main menu.
	//
	// Since we can't be sure that the setup or test mode won't leave
	// the system in an odd state, we don't let the user exit the top
	// menu; they must reset in order to fly.
	//
	if (check_startup_for_CLI()) {
		digitalWrite(A_LED_PIN, LED_ON);		// turn on setup-mode LED
        cliSerial->printf_P(PSTR("\nCLI:\n\n"));
        run_cli(cliSerial);
	}
#else
    const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
    cliSerial->println_P(msg);
#if USB_MUX_PIN == 0
    Serial3.println_P(msg);
#endif
#endif // CLI_ENABLED

	// initialise sonar
	#if CONFIG_SONAR == ENABLED
		init_sonar();
	#endif

#if FRAME_CONIG == HELI_FRAME
// initialise controller filters
init_rate_controllers();
#endif // HELI_FRAME

	// initialize commands
	// -------------------
	init_commands();

	// set the correct flight mode
	// ---------------------------
	reset_control_switch();

	// Temporary enable scheduler to allow Gyro calibration
	timer_scheduler.resume_timer();
	startup_ground();
	timer_scheduler.suspend_timer();

	if(g.compass_enabled)
		init_compass();

	barometer.init(&timer_scheduler); 
	
	// Start scheduler
	timer_scheduler.resume_timer();

	#if HIL_MODE != HIL_MODE_ATTITUDE
	// read Baro pressure at ground
	//-----------------------------
		init_barometer();
	#endif

	// Init LED sequencer
	#if LED_SEQUENCER == ENABLED
		sq_led_init();
	#endif

	// Do GPS init
	g_gps = &g_gps_driver;
	g_gps->init(GPS::GPS_ENGINE_AIRBORNE_1G);			// GPS Initialization

#if PIRATES_SENSOR_BOARD == PIRATES_CRIUS_AIO_PRO_V2 
    SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
#endif

#if LOGGING_ENABLED == ENABLED
	Log_Write_Startup();
#endif



///////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#if AP_LIMITS == ENABLED

	// AP_Limits modules are stored as a _linked list_. That allows us to define an infinite number of modules
	// and also to allocate no space until we actually need to.

	// The linked list looks (logically) like this
	//   [limits module] -> [first limit module] -> [second limit module] -> [third limit module] -> NULL


	// The details of the linked list are handled by the methods
	// modules_first, modules_current, modules_next, modules_last, modules_add
	// in limits

	limits.modules_add(&gpslock_limit);
	limits.modules_add(&geofence_limit);
	limits.modules_add(&altitude_limit);


	if (limits.debug())  {
		gcs_send_text_P(SEVERITY_LOW,PSTR("Limits Modules Loaded"));

		AP_Limit_Module *m = limits.modules_first();
		while (m) {
			gcs_send_text_P(SEVERITY_LOW, get_module_name(m->get_module_id()));
			m = limits.modules_next();
		}
	}

#endif

    cliSerial->print_P(PSTR("\nReady to FLY "));
}


//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
static void startup_ground(void)
{
	gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));

		// Warm up and read Gyro offsets
		// -----------------------------
    ins.init(AP_InertialSensor::COLD_START, 
             ins_sample_rate,
             mavlink_delay, flash_leds, &timer_scheduler);
		#if CLI_ENABLED == ENABLED
    report_ins();
	#endif

		// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
    ahrs.init(&timer_scheduler);

    // setup fast AHRS gains to get right attitude
    ahrs.set_fast_gains(true);

#if SECONDARY_DMP_ENABLED == ENABLED
    ahrs2.init(&timer_scheduler);
    ahrs2.set_as_secondary(true);
    ahrs2.set_fast_gains(true);
	#endif

	// reset the leds
	// ---------------------------
	clear_leds();

    // when we re-calibrate the gyros,
    // all previous I values are invalid
    reset_I_all();
}

// set_mode - change flight mode and perform any necessary initialisation
static void set_mode(byte mode)
{
    // Switch to stabilize mode if requested mode requires a GPS lock
    if(!ap.home_is_set) {
        if (mode > ALT_HOLD && mode != TOY_A && mode != TOY_M && mode != OF_LOITER && mode != LAND) {
			mode = STABILIZE;
	}
	}

    // Switch to stabilize if OF_LOITER requested but no optical flow sensor
    if (mode == OF_LOITER && !g.optflow_enabled ) {
			mode = STABILIZE;
	}

	control_mode = mode;
	control_mode = constrain(control_mode, 0, NUM_MODES - 1);

	// used to stop fly_aways
	// set to false if we have low throttle
    motors.auto_armed(g.rc_3.control_in > 0 || ap.failsafe);
    set_auto_armed(g.rc_3.control_in > 0 || ap.failsafe);

	// if we change modes, we must clear landed flag
    set_land_complete(false);

	// debug to Serial terminal
    //cliSerial->println(flight_mode_strings[control_mode]);

    ap.loiter_override  = false;

	// report the GPS and Motor arming status
	led_mode = NORMAL_LEDS;

	switch(control_mode)
	{
		case ACRO:
    	ap.manual_throttle = true;
    	ap.manual_attitude = true;
        set_yaw_mode(YAW_ACRO);
        set_roll_pitch_mode(ROLL_PITCH_ACRO);
        set_throttle_mode(THROTTLE_MANUAL);
        // reset acro axis targets to current attitude
        if( g.axis_enabled ) {
            roll_axis = ahrs.roll_sensor;
            pitch_axis = ahrs.pitch_sensor;
            nav_yaw = ahrs.yaw_sensor;
        }
			break;

		case STABILIZE:
    	ap.manual_throttle = true;
    	ap.manual_attitude = true;
        set_yaw_mode(YAW_HOLD);
        set_roll_pitch_mode(ROLL_PITCH_STABLE);
        set_throttle_mode(STABILIZE_THROTTLE);
			break;

		case ALT_HOLD:
    	ap.manual_throttle = false;
    	ap.manual_attitude = true;
        set_yaw_mode(ALT_HOLD_YAW);
        set_roll_pitch_mode(ALT_HOLD_RP);
        set_throttle_mode(ALT_HOLD_THR);
			break;

		case AUTO:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;
        set_yaw_mode(AUTO_YAW);
        set_roll_pitch_mode(AUTO_RP);
        set_throttle_mode(AUTO_THR);

			// loads the commands from where we left off
			init_commands();
			break;

		case CIRCLE:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;

        // start circling around current location
			set_next_WP(&current_loc);
			circle_WP 		= next_WP;

        // set yaw to point to center of circle
        yaw_look_at_WP = circle_WP;
        set_yaw_mode(YAW_LOOK_AT_LOCATION);
        set_roll_pitch_mode(CIRCLE_RP);
        set_throttle_mode(CIRCLE_THR);
			circle_angle 	= 0;
			break;

		case LOITER:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;
        set_yaw_mode(LOITER_YAW);
        set_roll_pitch_mode(LOITER_RP);
        set_throttle_mode(LOITER_THR);
			set_next_WP(&current_loc);
			break;

		case POSITION:
    	ap.manual_throttle = true;
    	ap.manual_attitude = false;
        set_yaw_mode(YAW_HOLD);
        set_roll_pitch_mode(LOITER_RP);
        set_throttle_mode(THROTTLE_MANUAL);
			set_next_WP(&current_loc);
			break;

		case GUIDED:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;
        set_yaw_mode(GUIDED_YAW);
        set_roll_pitch_mode(GUIDED_RP);
        set_throttle_mode(GUIDED_THR);
        wp_control = WP_MODE;
        wp_verify_byte = 0;
			set_next_WP(&guided_WP);
			break;

		case LAND:
        if( ap.home_is_set ) {
            // switch to loiter if we have gps
            ap.manual_attitude = false;
            set_yaw_mode(LOITER_YAW);
            set_roll_pitch_mode(LOITER_RP);
        }else{
            // otherwise remain with stabilize roll and pitch
            ap.manual_attitude = true;
            set_yaw_mode(YAW_HOLD);
            set_roll_pitch_mode(ROLL_PITCH_STABLE);
        }
    	ap.manual_throttle = false;
			do_land();
			break;

		case RTL:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;
        do_RTL();
			break;

		case OF_LOITER:
    	ap.manual_throttle = false;
    	ap.manual_attitude = false;
        set_yaw_mode(OF_LOITER_YAW);
        set_roll_pitch_mode(OF_LOITER_RP);
        set_throttle_mode(OF_LOITER_THR);
			set_next_WP(&current_loc);
			break;

		// THOR
		// These are the flight modes for Toy mode
		// See the defines for the enumerated values
    case TOY_A:
    	ap.manual_throttle = false;
    	ap.manual_attitude = true;
        set_yaw_mode(YAW_TOY);
        set_roll_pitch_mode(ROLL_PITCH_TOY);
        set_throttle_mode(THROTTLE_AUTO);
        wp_control              = NO_NAV_MODE;

        // save throttle for fast exit of Alt hold
        saved_toy_throttle = g.rc_3.control_in;

        break;

    case TOY_M:
    	ap.manual_throttle = false;
    	ap.manual_attitude = true;
        set_yaw_mode(YAW_TOY);
        set_roll_pitch_mode(ROLL_PITCH_TOY);
        wp_control              = NO_NAV_MODE;
        set_throttle_mode(THROTTLE_HOLD);
			break;

		default:
			break;
	}

    if(ap.manual_attitude) {
		// We are under manual attitude control
		// remove the navigation from roll and pitch command
		reset_nav_params();
		// remove the wind compenstaion
		reset_wind_I();
	}

	Log_Write_Mode(control_mode);
}

static void
init_simple_bearing()
{
	initial_simple_bearing = ahrs.yaw_sensor;
    Log_Write_Data(DATA_INIT_SIMPLE_BEARING, initial_simple_bearing);
}

#if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED
static boolean
check_startup_for_CLI()
{
    return (digitalReadFast(SLIDE_SWITCH_PIN) == 0);
}
#endif // CLI_ENABLED

/*
 *  map from a 8 bit EEPROM baud rate to a real baud rate
 */
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
    switch (rate) {
    case 1:    return 1200;
    case 2:    return 2400;
    case 4:    return 4800;
    case 9:    return 9600;
    case 19:   return 19200;
    case 38:   return 38400;
    case 57:   return 57600;
    case 111:  return 111100;
    case 115:  return 115200;
    }
    //cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
    return default_baud;
}

#if USB_MUX_PIN > 0
static void check_usb_mux(void)
{
    bool usb_check = !digitalReadFast(USB_MUX_PIN);
    if (usb_check == ap_system.usb_connected) {
        return;
    }

    // the user has switched to/from the telemetry port
    ap_system.usb_connected = usb_check;
    if (ap_system.usb_connected) {
        cliSerial->begin(SERIAL0_BAUD);
    } else {
        cliSerial->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
    }
}
#endif

/*
 *  called by gyro/accel init to flash LEDs so user
 *  has some mesmerising lights to watch while waiting
 */
void flash_leds(bool on)
{
    digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
    digitalWrite(B_LED_PIN, on?LED_ON:LED_OFF);
}

#ifndef DESKTOP_BUILD
/*
 * Read Vcc vs 1.1v internal reference
 */
uint16_t board_voltage(void)
{
    static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
    return vcc.read_vcc();
}
#endif

/*
  force a software reset of the APM
 */
static void reboot_apm(void)
{
    cliSerial->printf_P(PSTR("REBOOTING\n"));
    delay(100); // let serial flush
    // see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1250663814/
    // for the method
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
    // this relies on the bootloader resetting the watchdog, which
    // APM1 doesn't do
    cli();
    wdt_enable(WDTO_15MS);
#else
    // this works on APM1
    void (*fn)(void) = NULL;
    fn();
#endif
    while (1);
}

//
// print_flight_mode - prints flight mode to serial port.
//
static void
print_flight_mode(uint8_t mode)
{
    switch (mode) {
    case STABILIZE:
        cliSerial->print_P(PSTR("STABILIZE"));
        break;
    case ACRO:
        cliSerial->print_P(PSTR("ACRO"));
        break;
    case ALT_HOLD:
        cliSerial->print_P(PSTR("ALT_HOLD"));
        break;
    case AUTO:
        cliSerial->print_P(PSTR("AUTO"));
        break;
    case GUIDED:
        cliSerial->print_P(PSTR("GUIDED"));
        break;
    case LOITER:
        cliSerial->print_P(PSTR("LOITER"));
        break;
    case RTL:
        cliSerial->print_P(PSTR("RTL"));
        break;
    case CIRCLE:
        cliSerial->print_P(PSTR("CIRCLE"));
        break;
    case POSITION:
        cliSerial->print_P(PSTR("POSITION"));
        break;
    case LAND:
        cliSerial->print_P(PSTR("LAND"));
        break;
    case OF_LOITER:
        cliSerial->print_P(PSTR("OF_LOITER"));
        break;
    case TOY_M:
        cliSerial->print_P(PSTR("TOY_M"));
        break;
    case TOY_A:
        cliSerial->print_P(PSTR("TOY_A"));
        break;
    default:
        cliSerial->print_P(PSTR("---"));
        break;
    }
}
